Soak the beans in water I think would be "remojar las habichuelas". Remojar suggests that the final product is wetter than simply mojar. I suppose one could stress this by saying "requetemojar"
Saturar suggests soaking the bread in melted butter or whatever. Embarrar suggest smearing it on thickly over the surface. I have never heard enchumbar, but UI do not question its existence.